Future exploratory missions to the Moon and to Mars will involve solar-powered rovers; careful vehicle energy management is critical to the success of such missions. This article describes a unique dataset gathered by a small, four-wheeled rover at a planetary analog test facility in Canada. The rover was equipped with a suite of sensors designed to enable the study of energy-aware navigation and path planning algorithms. The sensors included a colour omnidirectional stereo camera, a monocular camera, an inertial measurement unit, a pyranometer, drive power consumption monitors, wheel encoders, and a GPS receiver. In total, the rover drove more than 1.2 km over varied terrain at the analog test site. All data is presented in human-readable text files and as standard-format images; additional Robot Operating System (ROS) parsing tools and several georeferenced aerial maps of the test environment are also included. A series of potential research use cases is described.

中文翻译：

---

加拿大行星仿真地形能量感知漫游车导航数据集

未来的月球和火星探索任务将涉及太阳能漫游车；谨慎的车辆能源管理对于此类任务的成功至关重要。本文描述了一个由加拿大一个行星模拟测试设施的小型四轮漫游车收集的独特数据集。漫游车配备了一套传感器，旨在研究能量感知导航和路径规划算法。传感器包括彩色全向立体相机、单目相机、惯性测量单元、总辐射表、驱动功耗监视器、车轮编码器和 GPS 接收器。总的来说，火星车在模拟测试站点的不同地形上行驶了 1.2 公里以上。所有数据都以人类可读的文本文件和标准格式的图像呈现；还包括额外的机器人操作系统 (ROS) 解析工具和测试环境的几个地理参考航空地图。描述了一系列潜在的研究用例。